Date of Award
2008
Document Type
Thesis
Degree Name
Doctor of Philosophy (PhD)
Department
Bioinformatics & Computational Biology
First Advisor
Dr. Andrew B. Wright
Abstract
A behavior based robot controller was implemented using Layered Mode Selection Logic as a behavior coordination mechanism and a Fuzzy Sensor Fusion Network to provide perception. A series of collision experiments were conducted to create a Fuzzy Sensor Fusion Network capable of detecting collisions using acceleration readings from wheel encoders. An obstacle avoidance behavior was created, and it was demonstrated that the robot could be constrained by movable obstacles. The avoidance behavior was modified to create an obstacle manipulation behavior. This behavior allowed the robot to escape when enclosed by movable obstacles. The fuzzy sensor fusion network was enhanced to allow for the identification of heavy obstacles by adding a force sensor. Fault tolerance was demonstrated by faulting either the force sensor or the acceleration sensor and observing that the system retained its collision detection capabilities. The system was shown to be scalable toward task complexity and robot complexity.
Recommended Citation
Born, Traig E.B., "Robot controller architecture: Layered mode selection logic with Fuzzy Sensor Fusion Network" (2008). Theses and Dissertations. 120.
https://research.ualr.edu/etd/120
